Transmission connection structure between sterile adapter and surgical instrument and instrument drive transmission mechanism of surgical robot

Abstract

The present invention discloses a transmission connection structure for a sterile adapter and a surgical instrument, wherein the sterile adapter includes a sterile adapter transmission member, and the surgical instrument includes an instrument transmission member. The mating surfaces of the sterile adapter transmission member and the instrument transmission member include a transmission buckle mating surface portion; and the mating surfaces of the sterile adapter transmission member and the instrument transmission member include a cylindrical mating surface portion, the center of the cylindrical mating surface being located on the rotation axis of the sterile adapter transmission member and the instrument transmission member. This transmission connection structure allows the sterile adapter transmission member and the instrument transmission member to be pre-docking through the cylindrical mating surface. The pre-docking allows the sterile adapter transmission member and the instrument transmission member to be pre-aligned, and then the sterile adapter transmission member and the instrument transmission member can find the accurate mating position. Furthermore, this prevents the sterile adapter transmission member and the instrument transmission member from being falsely docked during docking.

Description

Technical Field

[0001] The present invention relates to the technical field of medical instruments, and in particular to a transmission connection structure between a sterile adapter and a surgical instrument, and an instrument drive transmission mechanism of a surgical robot. Background Art

[0002] Surgical robots can help doctors achieve precise positioning during surgery, reducing patient trauma and shortening postoperative recovery time. They also have a stable operating platform that can alleviate doctor tremors, making them widely used in clinical surgical procedures.

[0003] Surgical instruments in surgical robots typically have a rear-end actuator at one end of a slender tube in the form of a surgical tool, such as forceps, scissors, or clamps. The conventional motion structure of this rear-end actuator uses a steel cable to rotate the rear-end actuator to achieve pitch, yaw, and gripping movements.

[0004] The surgeon controls the instruments on the surgical side driver on the console side. In order to meet the needs of using different surgical instruments during surgery, surgical instruments and instrument drivers are usually designed to be detachable, which is used to replace different surgical instruments during surgery. At the same time, surgical instruments can usually be disinfected and sterilized independently.

[0005] The instrument driver end is usually designed to be non-sterile. To ensure sterility during surgery, a sterile adapter needs to be added between the instrument driver and the instrument to isolate the non-sterile instrument driver end and the sterilizable instrument end during surgery.

[0006] The rear end of the surgical instrument is connected to the upper surface of the sterile adapter, and the instrument driver is connected to the lower surface of the sterile adapter. The instrument driver provides driving force to the rear end actuator of the surgical instrument through the sterile adapter to achieve the purpose of completing the pitch, deflection and clamping movements.

[0007] The lower surface of the sterile adapter is connected to the upper surface of the instrument driver. After the connection, it is stable and will not separate. At the same time, when unlocking is required, the sterile adapter can be quickly and easily unlocked and separated from the instrument driver. The rear end of the surgical instrument is connected to the upper surface of the sterile adapter. After the connection, it remains stable and will not separate. When unlocking is required, the surgical instrument can be quickly and easily unlocked and separated from the sterile adapter.

[0008] When the instrument driver, sterile adapter and surgical instrument are installed before and after completion, not only do the three need to be installed in place, but the absolute position of the surgical instrument also needs to be calibrated. In the existing method of installing the three and calibrating the absolute position of the surgical instrument, two transmission buckles are set on the transmission disk of the instrument driver, two transmission buckle mounting positions are set below the transmission disk of the sterile adapter to match the transmission buckle of the instrument driver, and two transmission buckles are set above the transmission disk of the sterile adapter. At the same time, two transmission buckle mounting positions are also set on the transmission disk at the rear end of the instrument to match the transmission buckle of the sterile adapter. During installation, the transmission disk of the sterile adapter needs to be fine-tuned with the transmission disk of the instrument driver several times before the transmission disk of the sterile adapter and the transmission disk of the instrument driver are docked in place. Then, the instrument driver drives the instrument driver transmission member and the transmission disk of the sterile adapter to rotate until the transmission buckle of the transmission disk of the sterile adapter can match the transmission disk buckle position of the surgical instrument. This method requires the user to be very careful when installing, whether it is the engagement of the surgical instrument with the transmission part of the sterile adapter, or the engagement of the sterile adapter with the transmission part of the instrument driver. The angle must be adjusted multiple times in the vertical, left and right, and front and back directions to ensure that the rotation axis of the transmission disk of the sterile adapter and the rotation axis of the transmission disk of the instrument driver are on the same axis. In addition, the motor of the instrument driver needs to drive the transmission disk of the instrument driver to rotate several times for blind connection. It needs to be rotated multiple times and several times to test whether the engagement is in place, so as to complete the docking. Summary of the Invention

[0009] The Summary of the Invention introduces a series of simplified concepts that will be further described in the Detailed Description of the Invention. The Summary of the Invention is not intended to limit the key features and essential features of the claimed technical solution, nor is it intended to determine the scope of protection of the claimed technical solution.

[0010] To solve the above technical problems, the present invention designs a transmission connection structure for a sterile adapter and a surgical instrument, which can complete the connection between the sterile adapter and the transmission part of the surgical instrument more quickly and accurately. The present invention is implemented by the following scheme:

[0011] A transmission connection structure between a sterile adapter and a surgical instrument, wherein the sterile adapter includes a sterile adapter transmission component, and the surgical instrument includes an instrument transmission component, wherein:

[0012] The mating surfaces of the sterile adapter transmission component and the instrument transmission component have cylindrical mating surface portions, and the centers of the cylindrical mating surfaces are located on the rotation axes of the sterile adapter transmission component and the instrument transmission component.

[0013] The transmission connection structure between the sterile adapter and the surgical instrument of the present invention allows the sterile adapter transmission part and the instrument transmission part to be pre-docked through the cylindrical mating surface, and then the sterile adapter transmission part continues to rotate to find the unique mating position of the sterile adapter transmission part and the instrument transmission part. The pre-docking can allow the sterile adapter transmission part and the instrument transmission part to be pre-aligned, and then the sterile adapter transmission part and the instrument transmission part can find the accurate mating position, so that the sterile adapter transmission part and the instrument transmission part will not produce a false docking when docking.

[0014] Preferably, one of the sterile adapter transmission component and the instrument transmission component has a cylindrical buckle, and the other of the sterile adapter transmission component and the instrument transmission component has a cylindrical buckle position, the cylindrical buckle position and the cylindrical buckle are adapted in size, and the centers of the cylindrical buckle and the cylindrical buckle position are located on the rotation axis of the sterile adapter transmission component and the instrument transmission component.

[0015] Preferably, one of the sterile adapter transmission component and the instrument transmission component has at least one transmission buckle, and the other of the sterile adapter and the instrument transmission component has at least one transmission buckle position, with at least one of the transmission buckles and at least one of the transmission buckles being arranged in a foolproof structure. In this embodiment, the eccentric position of the transmission buckle ensures that the sterile adapter transmission component and the instrument transmission component have only one installation position, which can help calibrate the absolute position of each instrument transmission component on the surgical instrument. This absolute position can be used to determine the angle of rotation of the sterile adapter transmission component and the instrument transmission component during each movement of the surgical instrument.

[0016] Preferably, the sterile adapter transmission member includes a sterile adapter transmission member body and a column structure protruding from the sterile adapter transmission member body; and

[0017] The instrument transmission component includes an instrument transmission component body and a column embedding recessed in the instrument transmission component body. The column structure can be embedded in the column embedding and matched with the column embedding.

[0018] More preferably, the sterile adapter transmission component further includes a transmission buckle protruding from the sterile adapter transmission component body, and the instrument transmission component further includes a transmission buckle embedding position recessed in the instrument transmission component body, and the transmission buckle can be embedded in the transmission buckle embedding position and cooperate with the transmission buckle embedding position.

[0019] More preferably, at least one transmission buckle is provided, and at least one transmission buckle is eccentrically arranged relative to the center of the column.

[0020] More preferably, there are more than two transmission buckles, and at least two transmission buckles and at least two transmission buckles are embedded in a unique alignment configuration.

[0021] More preferably, the column structure is higher than the height of the transmission buckle.

[0022] The top of the column structure has a guiding slope along the circumference of the column structure.

[0023] Preferably, the sterile adapter includes an adapter body, a sterile adapter transmission component mounting hole is provided on the adapter body, the sterile adapter transmission component can rotate in the sterile adapter transmission component mounting hole, the sterile adapter transmission component also includes a positioning part, a stop part is provided in the sterile adapter transmission component mounting hole, and the stop part can stop the positioning part.

[0024] More preferably, the lower end diameter of the sterile adapter transmission component is wider than the upper end diameter of the sterile adapter transmission component mounting hole.

[0025] The present invention also provides an instrument transmission mechanism for a surgical robot, utilizing any of the aforementioned transmission connection structures between a sterile adapter and a surgical instrument. The surgical robot instrument transmission mechanism comprises an instrument driver transmission member, a sterile adapter transmission member, and an instrument transmission member. The sterile adapter transmission member and the instrument transmission member utilize any of the aforementioned transmission connection structures between a sterile adapter and a surgical instrument. The lower end of the sterile adapter meshes with the instrument driver transmission member via a plurality of teeth uniformly distributed on the surfaces of the adapter transmission member and the instrument driver transmission member.

[0026] In this solution, the sterile adapter transmission part and the instrument driver transmission part are engaged through a number of teeth evenly arranged on the surfaces of the two parts, and can cooperate at any angle. At the same time, the tooth structure can average the torque in all directions of the sterile adapter transmission part and the instrument driver transmission part, and extend the service life.

[0027] The present invention also provides an instrument transmission mechanism for a surgical robot, which applies any of the above-mentioned transmission connection structures between a sterile adapter and a surgical instrument. The instrument transmission mechanism of the surgical robot includes an instrument driver transmission member, a sterile adapter transmission member, and an instrument transmission member. The sterile adapter transmission member and the instrument transmission member apply any of the above-mentioned transmission connection structures between a sterile adapter and a surgical instrument. The lower end of the sterile adapter transmission member is connected to the instrument driver transmission member via a transmission buckle. The sterile adapter transmission member and the instrument driver transmission member are also connected via a second cylindrical buckle and a second cylindrical buckle position. The second cylindrical buckle has a cylindrical mating surface, and the second cylindrical buckle position has a cylindrical recessed structure. The axes of the second cylindrical buckle and the second cylindrical buckle position are on the rotational axes of the sterile adapter transmission member and the instrument driver transmission member.

[0028] In this solution, the sterile adapter transmission member and the instrument driver transmission member are connected through the second cylindrical buckle and the second cylindrical buckle position. Before the two are precisely aligned, the cylindrical buckles are pre-docked, so that the sterile adapter transmission member and the instrument driver transmission member can be engaged more quickly and accurately.

[0029] Preferably, the transmission buckle between the instrument driver transmission member and the sterile adapter transmission member has a foolproof structure. After the instrument driver transmission member and the sterile adapter transmission member find a unique alignment position, the sterile adapter transmission member engages with the instrument transmission member, and the absolute position of the instrument transmission member is calibrated based on the angle of rotation of the sterile adapter transmission member when the sterile adapter transmission member and the instrument driver transmission member are precisely aligned. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The following drawings of the present invention are incorporated herein as part of the present invention for understanding the present invention. The drawings show embodiments of the present invention and the description thereof is used to explain the principle of the present invention.

[0031] In the attached figure:

[0032] Figure 1 Schematic diagram of the mechanism structure assembly of the driving transmission part of the surgical robot surgical instrument in a specific embodiment of the present invention

[0033] Figure 2 Schematic diagram of the decomposed structure of the driving and transmission part of the surgical robot surgical instrument in a specific embodiment of the present invention

[0034] Figure 3 Top view of the instrument driver in a specific embodiment of the present invention

[0035] Figure 4 Schematic diagram of the internal structure of the instrument driver in a specific embodiment of the present invention

[0036] Figure 5 Schematic diagram of the connection structure between the instrument driver and the sterile adapter in a specific embodiment of the present invention

[0037] Figure 6 Schematic diagram of the structure of the instrument driver transmission component of the instrument driver in a specific embodiment of the present invention

[0038] Figure 7 Schematic diagram of the structure of the second toothed portion of the lower end portion of the sterile adapter transmission member of the sterile adapter in a specific embodiment of the present invention

[0039] Figure 8 Schematic diagram of the connection structure between the sterile adapter and the surgical instrument transmission connection structure in a specific embodiment of the present invention

[0040] Figure 9 Schematic diagram of the disassembled structure of the sterile adapter in a specific embodiment of the present invention

[0041] Figure 10 Schematic diagram of the connection structure between the instrument driver and the sterile adapter in Example 2 of the specific embodiment of the present invention

[0042] Description of reference numerals:

[0043] 100 Instrument driver 101 Assembly surface of instrument driver

[0044] 110 driving motor 120 driving output shaft

[0045] 130 Instrument driver transmission member 130' Instrument driver transmission member

[0046] 131 first tooth portion 1310 first tooth

[0047] 1311 tooth peak of the first tooth 1312 meshing surface of the first tooth

[0048] 1313 first tooth groove 132 disk surface part

[0049] 1321 inclined portion 1331 larger second transmission buckle embedded

[0050] 1332 smaller second transmission buckle embedded in 134 second cylindrical structure

[0051] 140 elastic component 141 first spring seat

[0052] 142 second spring seat 143 spring

[0053] 200 sterile adapter 201 sterile adapter transmission part mounting hole

[0054] 210 Upper housing 211 Upper surface of the sterile adapter

[0055] 212 stopper 220 lower housing

[0056] 221 The lower surface of the sterile adapter 222 The snap-fit ​​protrusion

[0057] 230 sterile adapter transmission member 231 lower end portion of the sterile adapter transmission member

[0058] 232 Upper end portion of the sterile adapter transmission member 2320 End surface of the sterile adapter transmission member

[0059] 2321 transmission buckle 2321a larger transmission buckle

[0060] 2321b Smaller transmission buckle 2322 column structure

[0061] 2322a Guide slope 2322b End surface of the column structure

[0062] 2323 positioning portion 2324 stopping portion

[0063] 233 second tooth portion 2330 second tooth

[0064] 2331 tooth peak of the second tooth 2332 meshing surface of the second tooth

[0065] 2411 Larger second transmission buckle 2412 Smaller second transmission buckle

[0066] 251 second cylindrical buckle position 300 surgical instruments

[0067] 301 lower surface of surgical instrument box 310 surgical instrument box

[0068] 311 Instrument transmission part 3110 End surface of instrument transmission part

[0069] 3111 transmission buckle position 3112 column embedded position

[0070] 320 casing DETAILED DESCRIPTION

[0071] In the following description, numerous specific details are provided to provide a more thorough understanding of the present invention. However, it will be apparent to those skilled in the art that embodiments of the present invention may be practiced without one or more of these details. In other instances, certain technical features well known in the art are not described to avoid confusion with embodiments of the present invention.

[0072] In order to thoroughly understand the embodiments of the present invention, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of the present invention is not limited to the specific details familiar to those skilled in the art. It should be noted that the ordinal numbers such as "first" and "second" cited in the present invention are merely identifiers and do not have any other meaning, such as a specific order. Moreover, for example, the term "first component" itself does not imply the existence of a "second component", and the term "second component" itself does not imply the existence of a "first component". The terms "upper", "lower", "front", "back", "left", "right" and similar expressions used in the present invention are for illustrative purposes only and are not limiting.

[0073] Example 1

[0074] The surgical robot of the present invention comprises an operating table, a robotic arm, an instrument driver 100 mounted on a sliding arm of the robotic arm, a sterile adapter 200 and a surgical instrument 300. Figure 1 and Figure 2.

[0075] Among them, such as Figure 3 and Figure 4 The instrument driver 100 is provided with multiple drive motors 110, which are connected to the output shaft 120 to transmit driving force to the actuator of the surgical instrument through the transmission structure of the instrument driver surface 101, the transmission structure of the sterile adapter 200 and the transmission structure of the surgical instrument 300 to complete the pitch, yaw and clamping actions.

[0076] In this embodiment, the instrument driver 100 specifically includes a mounting surface 101 for a sterile adapter. Mounting surface 101 of the instrument driver 100 defines a mounting hole for mounting an instrument driver transmission member. An instrument driver transmission member 130 is positioned within the mounting hole, and an upper surface of the instrument driver transmission member 130 protrudes from the mounting surface of the instrument driver. The number of instrument driver disks, like the number of output shafts, can be three, four, five, or more.

[0077] like Figure 4 The instrument driver transmission member 130 is located within the instrument driver 100 and is connected to the driver output shaft 120 via an elastic assembly 140. The elastic assembly 140 includes a first spring seat 141 fixed to the output shaft, a second spring seat 142 fixed to the instrument driver transmission member 130, and a spring 143 located between the first spring seat 141 and the instrument driver transmission member 130. The first spring seat 141 and the second spring seat 142 are engaged with each other, enclosing the spring within the cavity formed by the first and second spring seats 141, 142, and the instrument driver transmission member 130. In a natural state, the thrust of the spring 143 toward the spring seats on both sides causes the edges of the first and second spring seats 141, 142 to engage, thereby lifting the instrument driver transmission member 130 and protruding it from the assembly surface 101 of the instrument driver.

[0078] like Figure 5 , Figure 6The instrument driver transmission member 130 is generally cylindrical in shape with a circular cross-section. Its rotational axis is located at the center of the circular structure. The upper end of the instrument driver transmission member 130 is closed, and a first toothed portion 131 is located at the upper end or top end of the closed structure. The first toothed portion includes a plurality of first teeth 1310 evenly distributed along the radial direction of the instrument driver transmission member, that is, the first teeth are distributed in a radial pattern. The number of first teeth 1310 can be odd or even. The tips of the first teeth, i.e., the tooth peaks 1311, are preferably sharp or rounded, and flat surfaces at the tooth peaks are avoided as much as possible. Each first tooth 1310 has a meshing surface 1312 on either side of its lower end. The meshing surfaces can be flat in the vertical direction or slightly inclined relative to the vertical direction. Each first tooth 1310 can be symmetrical or asymmetrical about its own midline, but the first toothed portion 131 is centrally symmetrical on the instrument driver transmission member 130. A first tooth groove 1313 is provided between two adjacent first teeth 1310. A guiding and positioning structure may be provided at the upper end of the instrument driver transmission member 130. For example, a disc portion 132 may be provided at the top end of the instrument driver transmission member. The disc portion 132 may be flush with or extend beyond the plane where the tooth peaks 1311 of the plurality of first teeth 1310 are located. The disc portion 132 may be provided with an inclined portion 1321 along the circumference for guidance. Alternatively, in some embodiments, the top end of the instrument driver transmission member may not have a disc portion, and a cylindrical member may be provided at its axial center. Using the same guiding principle, an inclined guide may be provided circumferentially at the top end of the cylinder (not shown in the figure).

[0079] like Figure 5 The sterile adapter 200 has a lower surface 221 that mates with the assembly surface 101 of the instrument driver, and an upper surface 211 that mates with the surgical instrument box at the rear end of the surgical instrument. The structure of the sterile adapter 200 mainly includes an upper shell 210, a lower shell 220, and a sterile adapter transmission member 230 that passes through the upper shell and the lower shell. Figure 9Specifically, the upper housing 210 and lower housing 220 of the sterile adapter each have mounting holes 201 at the same location for the sterile adapter transmission member 230 to pass through. The diameter of the sterile adapter transmission member mounting hole 201 should ensure sufficient space for the sterile adapter transmission member 230 to rotate. Furthermore, the diameter of the sterile adapter transmission member mounting hole 201, located on the upper surface 211 of the sterile adapter, should be larger than the diameter of the sterile adapter transmission member upper portion 232 and smaller than the diameter of the sterile adapter transmission member lower portion 231. This prevents the sterile adapter transmission member 230 from detaching from the upper end of the sterile adapter transmission member mounting hole 201 and from dislodging during subsequent docking of the sterile adapter with the surgical instrument. The number of sterile adapter transmission members 230 matches and is identical to the number of instrument driver transmission members 130 and the number of driver output shafts 120.

[0080] Sterile adapter transmission member 230 has a main body structure that is cylindrical in shape and circular or annular in cross-section. Its rotation axis is located at the center of the circular structure. That is, after sterile adapter transmission member 230 is docked with instrument driver transmission member 130, sterile adapter transmission member 230 and instrument driver transmission member 130 are coaxial. Sterile adapter transmission member 230 can be structured with one end closed, forming a spatial partition between instrument driver transmission member 130 and surgical instrument transmission member 311.

[0081] like Figure 7The upper portion 232 of the sterile adapter transmission member body structure is used to connect to the transmission member at the rear end of the surgical instrument, while the lower portion 231 is connected to the instrument driver transmission member of the instrument driver. In this embodiment, the sterile adapter 230 transmission member is a cover structure, and its lower portion 231 has a surface portion or frame portion that cooperates with the instrument driver transmission member 130, and a second toothed portion 233 that engages with the first toothed portion 131 of the instrument driver transmission member 130. Similar to the first toothed portion, the second toothed portion 233 includes a plurality of second teeth 2330 evenly distributed along the radial direction of the adapter, with the teeth distributed in a radial pattern. The peaks 2331 of the second teeth 2330 are preferably sharp or rounded. Each second tooth 2330 has a meshing surface 2332 on both sides. The meshing surfaces on both sides of the second tooth 2330 can mesh with the opposing meshing surfaces 1312 of two adjacent first teeth 1310, that is, the second tooth 2330 can be inserted into the first tooth groove 1313 formed between the two adjacent first teeth 1310. In the illustrated embodiment, the second tooth portion is located on the inner circumference of the adapter transmission member 230 body, and the first tooth portion is located on the outer circumference of the driver transmission member 130 body. The second tooth portion 233 and the first tooth portion 131 are combined as if the second tooth portion forms a cover on the first tooth portion. In some embodiments, the second tooth portion can also be located on the outer circumference of the adapter body and the first tooth portion is located on the inner circumference of the driver transmission member body, so that the second tooth portion and the first tooth portion are combined as if the second tooth portion is embedded in the first tooth portion. Of course, in some embodiments, the shapes of the first tooth portion and the second tooth portion are exactly the same, and the tooth portions are both exposed structures. The two are combined to form a complete column, and the transmission structure using the same principle of tooth meshing is considered an equivalent solution in this embodiment.

[0082] When the sterile adapter 200 is installed and matched with the instrument driver 100, the sterile adapter transmission member 230 and the instrument driver transmission member 130 can be matched at any angle through the engagement of the second toothed portion 233 and the first toothed portion 131, without the need for pre-alignment or alignment steps. At the same time, the toothed structure can average the torque in all directions of the sterile adapter transmission member and the instrument driver transmission member, and extend the service life.

[0083] Connection between sterile adapter and transmission mechanism of surgical instrument:

[0084] Surgical instrument 300, such as Figure 2 and Figure 8The surgical instrument case comprises a surgical instrument cassette 310 at the rear end, surgical instruments at the front end, an instrument sleeve 320 connecting the front and rear ends, and a transmission mechanism within the sleeve. The lower surface 301 of the surgical instrument case mates with the upper surface 211 of the sterile adapter. The lower end of the surgical instrument case serves as a mounting seat, to which a columnar structure of a transmission mechanism such as a steel wire is attached. The lower end of the columnar structure is fixedly connected to an instrument transmission member 311. The number of instrument transmission members is the same as the number of transmission members in the sterile adapter and the number of instrument drive disks.

[0085] Among them, such as Figure 9 The upper portion 232 of the sterile adapter transmission member has an end surface 2320 that is capable of tightly fitting with the end surface 3110 of the instrument transmission member of the surgical instrument cassette 310. The upper portion 232 of the sterile adapter transmission member also has a protruding transmission buckle 2321 on its end surface 2320. The transmission buckle 2321 cooperates with the surgical instrument transmission member 311 to provide transmission torque. In an embodiment, the same sterile adapter transmission member 230 may be provided with one or more transmission buckles 2321. The one or more transmission buckles may be eccentrically arranged on the sterile adapter transmission member 230, i.e., one or more transmission buckles may have a non-axisymmetric, non-planar symmetric, or non-center-symmetric structure. In short, whether there is one or more transmission buckles, the transmission buckle is designed as a fool-proof structure on the sterile adapter transmission member, ensuring that the sterile adapter transmission member and the instrument transmission member have a unique alignment position when docked.

[0086] The instrument transmission member 311 has an end surface 3110 for engaging with the sterile adapter transmission member. The end surface 3110 is roughly the same size as the sterile adapter transmission member's end surface 2320, and its rotational axis is also coaxial with the sterile adapter transmission member's rotational axis. The structure and number of the instrument transmission members 311 on the surgical instrument cassette are compatible with the sterile adapter transmission member 230. The instrument transmission members 311 have a transmission buckle 3111 for engaging with the transmission buckle 2321. The transmission buckle 3111 is embedded in the instrument transmission member 311, that is, it is recessed inwardly from the end surface of the instrument transmission member 311. The structure of the transmission buckle 3111 is adapted to the shape of the transmission buckle 2321, or at least adapted in the direction of power transmission (the direction of rotation around the axis). For example, the contact points and contact surfaces that form torque in the rotation direction of the adapter transmission part 230 and the instrument transmission part 311 are adapted. On the premise that the transmission buckle 2321 and the transmission buckle 3111 can be embedded to a certain depth, there is no strict requirement on the depth of the transmission buckle 3111.

[0087] In the illustrated embodiment, the sterile adapter transmission member is provided with two transmission buckles 2321: a larger transmission buckle 2321a and a smaller transmission buckle 2321b. These buckles extend in opposite directions on the end surface 2320 of the adapter transmission member 230, but their ends are spaced at different distances from the center. Accordingly, the instrument transmission member has two transmission buckle positions 3111, one mates with the larger transmission buckle and the other mates with the smaller transmission buckle. The two transmission buckles and two transmission buckle positions in this embodiment balance torque transmission. Furthermore, their asymmetric structure ensures a unique alignment between the adapter transmission member and the instrument rear end transmission member when mated.

[0088] In this embodiment, a cylindrical structure 2322 protrudes from the end surface 2320 of the sterile adapter transmission member 230. This cylindrical structure is a cylindrical buckle. This cylindrical structure 2322 is coaxial with the rotation axis of the adapter transmission member 230, that is, it is located at the center of the sterile adapter transmission member 230. A corresponding cylindrical recess 3112 is provided on the instrument transmission member 311, into which the cylindrical structure 2322 can be inserted. In this embodiment, the height of the cylindrical structure 2322 is higher than the height of the drive buckle 2321. That is, the distance between the end surface of the cylindrical structure 2322 and the end surface 2320 of the sterile adapter transmission member is greater than the distance between the end surface of the drive buckle 2321 and the end surface 2320 of the sterile adapter transmission member. Thus, before the instrument transmission member 311 is assembled, the cylindrical recess 3112 and the cylindrical structure 2322 are pre-docking.

[0089] In some embodiments, when the column structure 2322 and the transmission buckle 2321 are physically connected, that is, as shown in the figure, the column structure 2322 and the transmission buckle 2321 are an integrated structure without a gap space. The diameter of the column structure 2322 should be greater than the width of the transmission buckle 2321. At the same time, the width of the part of the transmission buckle position of the rear end transmission part of the instrument that is used to cooperate with the column structure should be greater than the width of the transmission buckle, that is, in the figure, the width between the two torque surfaces of the transmission buckle 2321 is smaller than the diameter width of the column structure 2322, so that the pre-docking is effective.

[0090] In some embodiments, the top of the column structure 2322 further includes a circumferential guide bevel 2322a. Specifically, the diameter of the column structure end surface 2322b is smaller than the diameter of the lower portion of the column structure 2322, and the radial width gradually increases from the column structure end surface 2322b toward the end surface of the sterile adapter transmission member. This creates a non-cylindrical structure with a beveled surface starting from the top. This structure facilitates faster insertion of the column structure into the column mount during pre-docking.

[0091] In some embodiments, the column structure can also be set on the instrument transmission part of the surgical instrument, and the corresponding column embedment is set on the sterile adapter transmission part of the sterile adapter. Similarly, the transmission buckle can also be set on the instrument transmission part of the surgical instrument, and the corresponding transmission buckle position is set on the sterile adapter transmission part, which can also achieve the same technical effect as in the above embodiments.

[0092] In addition, in an embodiment, the sterile adapter transmission member 230 also has a positioning portion 2323, which is located at the outer periphery of the upper end portion 232 of the sterile adapter transmission member, and a stop portion 212 is provided in the transmission member mounting hole 201 of the sterile adapter. The stop portion 212 is roughly located at a position of the sterile adapter upper shell 210 close to the upper surface 211 of the sterile adapter. When the stop portion 212 and the positioning portion 232 are roughly at the same level, the sterile adapter transmission member rotates so that the positioning portion 232 rotates to the stop portion 212, and the stop portion stops the positioning portion. At this time, the sterile adapter transmission member cannot continue to rotate, and this position can be used as the origin of the sterile adapter.

[0093] The sterile adapter transmission part 230 also has a stop part 2324, one or more stop parts 2324, which are located on the outer periphery of the sterile adapter. Accordingly, the snap-fit ​​protrusion 222 at the lower end thereof and the sterile adapter transmission part mounting hole 201 forms a stop. When the sterile adapter is not installed, its structure is complete and the transmission part is not easy to fall off.

[0094] In one embodiment, on the sterile adapter transmission part, the positioning portion 2323 is higher than the stop portion 2324, the positioning portion 2323 stops with the stop portion 212 at the upper part of the sterile adapter transmission part mounting hole 201, and the stop portion 2311 stops with the clamping protrusion 222 at the lower part of the sterile adapter transmission part mounting hole.

[0095] In one embodiment, one of the stop portions 2324 and the positioning portion 2323 may be an integral structure.

[0096] In one embodiment, the sterile adapter is installed on the instrument by aligning the sterile adapter with the instrument driver in any orientation. The output shaft of the instrument driver lifts the instrument driver transmission member and the sterile adapter transmission member until the stop and the positioning member on the sterile adapter are approximately level. The instrument driver's motor then rotates, driving the instrument driver transmission member and the sterile adapter transmission member to rotate until the positioning member and the stop abut against each other. This position serves as the initial position of the sterile adapter transmission member.

[0097] The installation process of the surgical instrument and the sterile adapter is as follows: the rear end of the surgical instrument is installed from top to bottom. When the transmission member of the surgical instrument is aligned with the sterile adapter, the column structure of the sterile adapter transmission member is inserted into the column of the surgical instrument transmission member, resulting in pre-docking. At this time, the transmission buckle on the sterile adapter transmission member is not aligned with the transmission buckle position of the surgical instrument transmission member, so that the transmission buckle on the sterile adapter transmission member abuts against the surface of the surgical instrument transmission member. The transmission buckle on the sterile adapter transmission member is pressed downward, causing the positioning portion to disengage from the stop portion. Then, the motor of the instrument driver rotates, driving the sterile adapter transmission member to rotate until the transmission buckle on the sterile adapter transmission member is aligned and engaged with the transmission buckle of the surgical instrument transmission member, completing the docking installation. At this time, the angle of rotation of the sterile adapter transmission member relative to the initial position is the absolute position of the surgical instrument. This absolute position is used to determine the various movement angles of the surgical instrument.

[0098] Example 2

[0099] In Example 2, the docking structure between the instrument driver transmission member and the sterile adapter transmission member is different from that in Example 1. In Example 2, the docking structure between the instrument driver transmission member and the sterile adapter is connected by transmission buckles of different sizes and a pre-docking structure.

[0100] Among them, such as Figure 10 , which illustrates the connection structure between the instrument driver and the sterile adapter in Example 2. The lower end of the sterile adapter transmission member 231' features two second transmission buckles of varying sizes: a larger second transmission buckle 2411 and a smaller second transmission buckle 2412. Correspondingly, the instrument driver transmission member 130' has a larger second transmission buckle engagement position 1331 and a smaller second transmission buckle engagement position. The second transmission buckle is designed as a foolproof structure, ensuring a unique docking position between the sterile adapter transmission member and the instrument driver transmission member. At the same time, a second cylindrical buckle 134 is provided on the instrument driver transmission member, and a second cylindrical buckle position 251 is provided on the sterile adapter, wherein the second cylindrical buckle has a cylindrical mating surface, and the second cylindrical buckle position 251 has a cylindrical recessed structure. After the second cylindrical buckle 134 and the second cylindrical buckle position 251 are docked, the rotation axis of the two is coaxial with the rotation axis of the sterile adapter transmission member and the instrument driver transmission member. The setting of the second cylindrical buckle and the second cylindrical buckle position enables the second cylindrical buckle 134 to be pre-docked with the second cylindrical buckle position 251 before the sterile adapter transmission member and the instrument driver transmission member are docked.

[0101] In Example 2, other structures are the same as those in Example 1, such as the positioning stop structure between the sterile adapter transmission part and the sterile adapter, and the transmission buckles and pre-docking structures of different sizes connected between the sterile adapter transmission part and the transmission part of the surgical instrument, which will not be repeated here.

[0102] In this scheme, the instrument driver transmission member and the sterile adapter transmission member are first pre-docked, that is, the second cylindrical buckle of the instrument driver transmission member is pre-docked with the second cylindrical buckle position of the sterile adapter, and then the instrument transmission member and the transmission member of the sterile adapter are pre-docked, that is, the column structure on the sterile adapter transmission member is pre-docked with the column embedding position on the instrument transmission member. The second cylindrical buckle and the second cylindrical buckle position between the instrument driver and the sterile adapter driver rotate simultaneously due to friction. When the positioning part on the sterile adapter driver produces a stop with the positioning part on the sterile adapter driver mounting hole, the sterile adapter driver stops rotating, and the instrument driver driver continues to rotate to find the unique alignment position of the sterile adapter driver, that is, the second transmission buckle of the instrument driver driver is just located below the second transmission buckle of the sterile adapter, and the instrument driver driver and the sterile adapter are docked. The state of the sterile adapter driver and the instrument driver is at this time is the origin position. The instrument driver and the sterile adapter continue to rotate until the sterile adapter driver and the instrument driver reach a precise docking. The angle rotated by the sterile adapter driver is the absolute position of the instrument driver.

[0103] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art in the art of the present invention. The terms used herein are only for describing specific implementation purposes and are not intended to limit the present invention. Terms such as "setting" appearing in this article can mean that one component is directly attached to another component, or that one component is attached to another component through an intermediate component. Features described in this article in one embodiment can be applied to another embodiment alone or in combination with other features, unless the feature is not applicable in the other embodiment or otherwise specified.

[0104] The present invention has been described through the above embodiments, but it should be understood that the above embodiments are for illustrative and illustrative purposes only and are not intended to limit the present invention to the described embodiments. Those skilled in the art will appreciate that various variations and modifications may be made based on the teachings of the present invention, and such variations and modifications fall within the scope of protection claimed in the present invention.

Claims

1. A transmission connection structure between a sterile adapter and a surgical instrument, characterized in that: The sterile adapter includes a sterile adapter transmission member, the surgical instrument includes an instrument transmission member, and the end of the sterile adapter transmission member that is connected to the instrument transmission member is a closed structure, wherein: The mating surfaces of the sterile adapter transmission member and the instrument transmission member have a transmission buckle mating surface portion, and the transmission buckle mating surface portion includes a transmission buckle and a transmission buckle position that cooperate with each other for transmitting power between the sterile adapter transmission member and the instrument transmission member; and The mating surfaces of the sterile adapter transmission member and the instrument transmission member have a cylindrical mating surface portion, the center of the cylindrical mating surface is located on the rotation axis of the sterile adapter transmission member and the instrument transmission member, and the cylindrical mating surface portion includes a cylindrical buckle and a cylindrical buckle position that cooperate with each other; The transmission buckle and the cylindrical buckle are arranged on one of the sterile adapter transmission member and the instrument transmission member, and the transmission buckle position and the cylindrical buckle position are arranged on the other of the sterile adapter transmission member and the instrument transmission member; the transmission buckle is asymmetrically arranged so that the sterile adapter transmission member and the instrument transmission member have a unique alignment position, and the cylindrical buckle is higher than the height of the transmission buckle; The transmission buckle is connected to the cylindrical buckle and extends radially, and the diameter of the cylindrical buckle is greater than the width of the transmission buckle; At least two transmission buckles are provided, and the extension lengths of at least two transmission buckles are inconsistent.

2. The transmission connection structure of the sterile adapter and the surgical instrument according to claim 1, characterized in that: The sterile adapter transmission member includes a sterile adapter transmission member body, a column structure protruding from the sterile adapter transmission member body, and the column structure constitutes the cylindrical buckle; and The instrument transmission component includes an instrument transmission component body and a columnar embedment recessed in the instrument transmission component body. The columnar embedment constitutes the cylindrical buckle. The column structure can be embedded in the columnar embedment and cooperate with the columnar embedment. The mating surface between the column structure and the column embedment is a cylindrical mating surface.

3. The transmission connection structure of the sterile adapter and the surgical instrument according to claim 2, characterized in that: The transmission buckle protrudes from the sterile adapter transmission component body, the transmission buckle position is recessed in the instrument transmission component body, and the transmission buckle can be embedded in the transmission buckle embedding position and matched with the transmission buckle embedding position.

4. The transmission connection structure of the sterile adapter and the surgical instrument according to claim 3, characterized in that: The top of the column structure has a guiding slope along the circumference of the column structure.

5. The transmission connection structure between a sterile adapter and a surgical instrument according to any one of claims 1 to 4, characterized in that: The sterile adapter includes an adapter body, a sterile adapter transmission member mounting hole is provided on the adapter body, the sterile adapter transmission member can rotate in the sterile adapter transmission member mounting hole, the sterile adapter transmission member also includes a positioning portion, a stop portion is provided in the sterile adapter transmission member mounting hole, and the stop portion can stop the positioning portion.

6. The transmission connection structure of the sterile adapter and the surgical instrument according to claim 5, characterized in that: The lower end diameter of the sterile adapter transmission member is wider than the upper end diameter of the sterile adapter transmission member mounting hole.

7. An instrument drive transmission mechanism for a surgical robot, characterized in that: It includes an instrument driver transmission member, a sterile adapter and an instrument transmission member, wherein the sterile adapter includes an adapter body and a sterile adapter transmission member; The adapter body is provided with a sterile adapter transmission member mounting hole, the sterile adapter transmission member can rotate in the sterile adapter transmission member mounting hole, the sterile adapter transmission member further includes a positioning portion, a stop portion is provided in the sterile adapter transmission member mounting hole, and the stop portion can stop the positioning portion; The mating surfaces of the sterile adapter transmission member and the instrument transmission member have a transmission buckle mating surface portion; and the mating surfaces of the sterile adapter transmission member and the instrument transmission member have a cylindrical mating surface portion, the center of the cylindrical mating surface being located on the rotation axis of the sterile adapter transmission member and the instrument transmission member; The lower end of the sterile adapter transmission member is engaged with the instrument driver transmission member through a plurality of teeth evenly arranged on the surfaces of the sterile adapter transmission member and the instrument driver transmission member; the upper end of the instrument driver transmission member includes a first toothed portion, the first toothed portion is evenly distributed with a plurality of teeth, and the teeth on the first toothed portion are arranged radially, and the lower end of the sterile adapter transmission member includes a second toothed portion, the second toothed portion is evenly distributed with a plurality of teeth, and the teeth on the second toothed portion are arranged radially; the upper end of the teeth of the first toothed portion includes a tooth peak, and the lower end of the teeth of the second toothed portion includes a tooth peak, and the tooth peak includes two oppositely arranged guide surfaces, and the two guide surfaces intersect at the top of the tooth peak to form a sharp angle or a rounded angle, so that the first toothed portion and the second toothed portion can engage before the stop portion abuts against the positioning portion.

8. The instrument drive transmission mechanism of the surgical robot according to claim 7, characterized in that: One of the sterile adapter transmission component and the instrument transmission component has a cylindrical buckle, and the other of the sterile adapter transmission component and the instrument transmission component has a cylindrical buckle position. The cylindrical buckle position and the cylindrical buckle are adapted in size, and the centers of the cylindrical buckle and the cylindrical buckle position are located on the rotation axis of the sterile adapter transmission component and the instrument transmission component.

9. The instrument drive transmission mechanism of the surgical robot according to claim 7, characterized in that: One of the sterile adapter transmission component and the instrument transmission component has at least one transmission buckle, and the other of the sterile adapter and the instrument transmission component has at least one transmission buckle position, and at least one of the transmission buckle and at least one of the transmission buckle positions are configured as fool-proof structures.

10. The instrument drive transmission mechanism of the surgical robot according to claim 7, 8 or 9, characterized in that: The sterile adapter transmission member includes a sterile adapter transmission member body and a column structure protruding from the sterile adapter transmission member body; and The instrument transmission component includes an instrument transmission component body and a column embedding recessed in the instrument transmission component body. The column structure can be embedded in the column embedding and matched with the column embedding. The matching surface between the column structure and the column embedding is a cylindrical matching surface.

11. The instrument drive transmission mechanism of the surgical robot according to claim 10, characterized in that: The sterile adapter transmission component also includes a transmission buckle protruding from the sterile adapter transmission component body, and the instrument transmission component also includes a transmission buckle position recessed in the instrument transmission component body, and the transmission buckle can be embedded in the transmission buckle position and cooperate with the transmission buckle position.

12. The instrument drive transmission mechanism of the surgical robot according to claim 11, characterized in that: There is at least one transmission buckle, and the at least one transmission buckle is eccentrically arranged relative to the center of the column.

13. The instrument drive transmission mechanism of the surgical robot according to claim 11, characterized in that: There are more than two transmission buckles, and at least two of the transmission buckles and at least two of the transmission buckle positions have a unique alignment configuration.

14. The instrument drive transmission mechanism of the surgical robot according to claim 11, characterized in that: The column structure is higher than the transmission buckle.

15. The instrument drive transmission mechanism of the surgical robot according to claim 10, characterized in that: The top of the column structure has a guiding slope along the circumference of the column structure.

16. The instrument drive transmission mechanism of the surgical robot according to claim 7, characterized in that: The lower end diameter of the sterile adapter transmission member is wider than the upper end diameter of the sterile adapter transmission member mounting hole.

17. An instrument drive transmission mechanism for a surgical robot, characterized in that: It includes an instrument driver transmission member, a sterile adapter transmission member and an instrument transmission member, and the sterile adapter transmission member and the instrument transmission member apply the transmission connection structure of the sterile adapter and the surgical instrument as described in any one of claims 1 to 6, the lower end of the sterile adapter transmission member is connected to the instrument driver transmission member through a transmission buckle, and the sterile adapter transmission member and the instrument driver transmission member are also connected through a second cylindrical buckle and a second cylindrical buckle position, the second cylindrical buckle has a cylindrical mating surface, the second cylindrical buckle position has a cylindrical recessed structure, and the axes of the second cylindrical buckle and the second cylindrical buckle position are on the rotation axis of the sterile adapter transmission member and the instrument driver transmission member.

18. The instrument drive transmission mechanism of the surgical robot according to claim 17, characterized in that: The transmission buckle position between the instrument driver transmission part and the sterile adapter transmission part has a fool-proof structure.

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